TRR 2018 / Mbed 2 deprecated biniou-TRR2019-DLVV

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Dependencies:   mbed MPU6050

main.cpp@6:ab9f3695633f, 2019-09-29 (annotated)

Committer:
GaspardD
Date:
Sun Sep 29 20:07:54 2019 +0000
Revision:
6:ab9f3695633f
Parent:
5:8bbe640528bc
Child:
7:23bb20892c8c
jules guesde mc gyver;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
GaspardD 1:8faddee0e52f 1 #include "sm_esc.h"
GaspardD 2:e9d928fd327a 2 #include "sm_servo.h"
GaspardD 4:efa207509f63 3 #include "sm_sections.h"
GaspardD 6:ab9f3695633f 4 #include "MPU6050.h"
GaspardD 6:ab9f3695633f 5
GaspardD 6:ab9f3695633f 6
GaspardD 6:ab9f3695633f 7 MPU6050 mpu;
GaspardD 6:ab9f3695633f 8 int16_t ax, ay, az;
GaspardD 6:ab9f3695633f 9 float ax_g,ay_g,az_g;
GaspardD 6:ab9f3695633f 10 int16_t gx, gy, gz;
GaspardD 0:38b6065539a0 11
GaspardD 3:1b7eb426247e 12 int main()
GaspardD 3:1b7eb426247e 13 {
GaspardD 5:8bbe640528bc 14 //on met le jumper sur le chassis le plus récent. Avec le jumper, chassisMode = 0.
GaspardD 6:ab9f3695633f 15 init_chassis_mode();
GaspardD 6:ab9f3695633f 16
GaspardD 6:ab9f3695633f 17 mpu.initialize();
GaspardD 6:ab9f3695633f 18 odroid.printf("MPU6050 testConnection \r\n");
GaspardD 6:ab9f3695633f 19
GaspardD 6:ab9f3695633f 20 bool mpu6050TestResult = mpu.testConnection();
GaspardD 6:ab9f3695633f 21 if(mpu6050TestResult) {
GaspardD 6:ab9f3695633f 22 odroid.printf("MPU6050 test passed \r\n");
GaspardD 6:ab9f3695633f 23 } else {
GaspardD 6:ab9f3695633f 24 odroid.printf("MPU6050 test failed \r\n");
GaspardD 6:ab9f3695633f 25 }
GaspardD 6:ab9f3695633f 26
GaspardD 4:efa207509f63 27 //init timers
GaspardD 4:efa207509f63 28 timerSinceStart.start();
GaspardD 0:38b6065539a0 29
GaspardD 4:efa207509f63 30 //init_interruptions
GaspardD 6:ab9f3695633f 31 button.fall(&it_pressed);
GaspardD 4:efa207509f63 32 odom.fall(&it_odom);
GaspardD 3:1b7eb426247e 33
GaspardD 1:8faddee0e52f 34 //init state machines
GaspardD 4:efa207509f63 35 pc.printf("init state machines\r\n");
GaspardD 3:1b7eb426247e 36
GaspardD 6:ab9f3695633f 37 //init_sm_sections();
GaspardD 6:ab9f3695633f 38 init_sm_esc();
GaspardD 3:1b7eb426247e 39 init_sm_servo();
GaspardD 2:e9d928fd327a 40
GaspardD 1:8faddee0e52f 41 while(1) {
GaspardD 6:ab9f3695633f 42 mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
GaspardD 6:ab9f3695633f 43 //correction pour avoir une acceleration coef empirique
GaspardD 6:ab9f3695633f 44 ax_g = (float)ax /1658.0 ;
GaspardD 6:ab9f3695633f 45 ay_g = (float)ay /1658.0 ;
GaspardD 6:ab9f3695633f 46 az_g = (float)az /1658.0 ;
GaspardD 6:ab9f3695633f 47
GaspardD 6:ab9f3695633f 48 if(e_stateESC == ESC_COMMAND)
GaspardD 6:ab9f3695633f 49 {
GaspardD 6:ab9f3695633f 50 odroid.printf("acc X =%.2f; acc Y =%.2f; acc Z=%.2f;gyr X =%d; gyr Y =%d; gyr Z=%d;\n\r",ax_g,ay_g,az_g,gx,gy,gz);
GaspardD 6:ab9f3695633f 51 }
GaspardD 6:ab9f3695633f 52 //update_sm_sections();
GaspardD 1:8faddee0e52f 53 update_sm_esc();
GaspardD 4:efa207509f63 54 update_sm_servo();
GaspardD 3:1b7eb426247e 55
GaspardD 6:ab9f3695633f 56 //output_sm_sections();
GaspardD 4:efa207509f63 57 output_sm_esc();
GaspardD 3:1b7eb426247e 58 output_sm_servo();
GaspardD 0:38b6065539a0 59 }
GaspardD 0:38b6065539a0 60 }